#ifndef __BSP_ENCODER_H__
#define __BSP_ENCODER_H__



#include "bsp.h"

typedef struct
{
	uint32_t rps;
	uint32_t rpm;
	uint8_t dir;
	float rpm_f;
}encoder_t;

extern encoder_t encoder_info[4]; // 4个轮子的编码器信息

void bsp_encoder_init(void);

void read_encoder(void);

#endif
